摘要
结合摆动式单波束超声测距方法,提出了一种基于高速DSP—TMS320C6416平台的水下微地形实时探测系统设计方案,并从硬件、软件上加以实现.通过该系统测到的cm级精度微地形数据可计算出前端地形的最佳切削深度,从而实现在深海富钴结壳资源开采过程中对采矿头浮动的精确控制,达到最优切削的目的.试验结果证明:该系统能在实验台以50 mm/s的速度匀速行走时,实时探测前方地形,并在行程满足设定距离后绘制出三维地形图,误差较小,可以满足钴结壳开采实际要求.
With the technology of rotating single-beam ultrasonic range finder, a scheme of underwater tiny terrain detection system based on TMS320C6416 was put forward and the hardware and software of the system were realized. The most optimized cut depth of the terrain ahead can be calculated by using the tiny terrain data with cm-grade precision detected by the system, then precise control of the mining head can be achieved in the deep-sea cobalt crust mining process, which leads to the most optimized cutting. The experimental results prove that real-time detection of the terrain ahead can be accomplished by the system when the test-bed is moving at a speed of 50mm/s and three-dimensional terrain map can be plotted after the moving distance reaches the setting value and the error is small, which can meet the practical requirement of cobalt crust mining.
出处
《郑州大学学报（工学版）》
CAS
2008年第3期43-46,65,共5页
Journal of Zhengzhou University（Engineering Science）
基金
国家自然科学基金资助项目(50474052)
